Function navtk::navutils::dcm_to_rot_vec

• Defined in File navigation.hpp

Function Documentation

Matrix navtk::navutils::dcm_to_rot_vec(const Tensor<3, double> &dcms)

Batched inverse of rot_vec_to_dcm, converts direction cosine matrices (DCMs) to rotation vectors.

Parameters

dcms – Tensor of direction cosine matrices, dim: (N, 3, 3)

Returns

Matrix of rotation vectors in radians, dim: (N, 3)